CN102016774B - Method for determining the location of an impact on a surface of an object - Google Patents
Method for determining the location of an impact on a surface of an object Download PDFInfo
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- CN102016774B CN102016774B CN200980116086.1A CN200980116086A CN102016774B CN 102016774 B CN102016774 B CN 102016774B CN 200980116086 A CN200980116086 A CN 200980116086A CN 102016774 B CN102016774 B CN 102016774B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
- G01N29/50—Processing the detected response signal, e.g. electronic circuits specially adapted therefor using auto-correlation techniques or cross-correlation techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/043—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using propagating acoustic waves
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
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Abstract
The invention relates to a method for determining the location of an impact on a surface of an object based on the analysis of an acoustic signal generated by the impact. This method further comprises a signal treatment step of weighting the acoustic signal to take into account spurious contributions in particular due to reflections at the border of the object.
Description
Technical field
The method of position of collision on body surface is determined in the analysis that the present invention relates to a kind of acoustical signal producing based on collision.
Background technology
According to the known this method of WO2006/108443, WO2006/108443 discloses a kind of method of determining the lip-deep position of collision that comprises N transducer, by sensing signal S
i(t) be transferred to processing unit, wherein said method comprises the following steps: P the cross correlation results (inter-correlationproducts) of Fourier transform of a) calculating the sensing signal of described N different transducers; B) calculate the inverse Fourier transform p ' of P cross correlation results
ij(u); C) each the region k for described body surface calculates P
k(u)=∑ p '
ij(u-τ
ijk); And d) find region k
0, wherein, at the eigenwert P of All Ranges k
k(u) in, region k
0eigenwert P
k0(u) maximum.Here, τ
ijktime of arrival corresponding to the signal of two different transducer sensings by each region k is poor.
Therefore, localization method based on the position cross correlation function that bumps (cross-correlation function) and the existence at remarkable peak.Yet under specific circumstances, for example, because the acoustical signal reflection in the wide region of object or other uncontinuities (spiral, crack or hole) the false contribution causing in object make the mistake of determining of position of collision.
Proposed by shutoff signal after predetermined time interval or by using low-pass filter to solve this problem.Yet the result that the scheme proposing obtains is also unsatisfactory.In the situation that receive not through reflection sensing signal with reflection after sensing signal between can not know separated (for example this may occur in because material character causes signals disperse), described cut-out causes the signal of revising, and has also limited thus the setting accuracy of collision.
Summary of the invention
Therefore, the object of the invention is to propose a kind ofly to consider that false contribution (for example object boundary place reflection contribution) processes the method for sensing signal better.
Utilize method according to claim 1 to realize this object.By acoustical signal is weighted, can keep the complete information of described signal, meanwhile, the contribution causing with respect to the reflection by object boundary place (typically arriving soon after), the contribution of amplifying the sensing signal directly receiving from position of collision.Therefore, the definite of position of collision becomes more reliable and accurate.In context, should be appreciated that, handled acoustical signal must not be by the transducer signal of sensing immediately, and can be through signal that for example analog-to-digital conversion is processed.
Preferably, in time domain, carry out weighting, aspect identification position of collision, realizing best result thus.
According to preferred embodiment, signal treatment step can comprise: the step before the first wave of identification acoustical signal; And the step of application damping window.After collision, acoustical signal is launched on object, and for example, carrys out acoustical signal described in sensing by the converting means (transducer) of specific quantity.Because due to geometric reasons, after only having arrived the transducer of just discussing before the first wave of acoustical signal, the first reflective contribution of ability sensing signal, so the identification before first wave is robust parameter, a part with identification signal, this part should have the weighting factor higher than the weighting factor of the remainder of sensing signal, and the step that should be employed damping window is considered.In context, term " before first wave " means the signal section that arrives converting means in the situation that not causing false contribution because of reflection.
Preferably, the step before identification first wave can comprise identification maximum signal amplitudes.Described maximum signal amplitudes is to be easy to the parameter that detects, does not therefore require very large computing power, is for finding out the initial parameters of the robust that acoustical signal starts simultaneously.The alternative parameter of sensing acoustical signal can be the power of signal, the energy that maximum peak arrives peak-to-peak amplitude or signal, rather than amplitude peak.Before identification signal amplitude, can executive signal rectification and level and smooth other step to promote data analysis.
According to favourable embodiment, the step before identification first wave also comprises: the arrival before first wave is defined as to the time when acoustical signal surpasses the threshold value based on maximum signal amplitudes.For example, the arrival before the first wave of acoustical signal can be ascribed to the time of the particular percentile that reaches amplitude peak.
Preferably, the step of application damping window can comprise multiplying each other of use acoustical signal and following exponential damping window:
T wherein
icorresponding with the time of arrival before first wave, Δ t is time delay, and T is index time constant.
It seems that this for this exponential damping window, reach optimum in data analysis, and its middle term Δ t (Δ t > 0) preferably moves to early the time with the time delay of optimum results by damping window initial.According to application, Δ t can be fixed value or adaptive, for example according to device initial value and self-adaptation.
Advantageously, can be by acoustical signal described at least two converting means sensings, and wherein for a converting means, only for a converting means, identify before first wave particularly, make the same time initial point to all converting means application damping windows.Thus, can keep calculated amount lower.Use the front optimum that obtains of first wave of the first sensing signal.In context, by the signal amplitude of N channel is identified to the first sensing signal with fixed threshold.
According to preferred embodiment, can carry out sensing acoustical signal by least two converting means, and can use the weighting of being carried out acoustical signal by the cross correlation results of the signal of described at least two converting means sensings.Therefore from above-mentioned different, the signal of direct sensing are not weighted, but simple crosscorrelation is weighted, preferably the position for definite collision by described simple crosscorrelation.Again, as said method, can be in the situation that can not lose the adverse effect from the inhibitory reflex of the information of direct signal.In order further to reduce the impact of false contribution, variant of the present invention comprises: as above-mentioned, disclosedly in first step, sensing signal is weighted, and in second step, crosscorrelation (cross-correlation) result is weighted.
Advantageously, the step before identification first wave can comprise the maximal value of determining cross correlation results.As alternative, also can make as analysed basis in arriving peak-to-peak amplitude, root mean square etc. for maximum squared magnitude, maximum peak.These are that the simple crosscorrelation of these two transducers is definite for identifying two signal arrival time differences between transducer as the robust parameter of first approximation.
Preferably, the step of application damping window can comprise application gravity center of symmetric window function, apply particularly Gaussian window, Hamming (Hamming) window, peaceful (hanning) window of the Chinese or Blackman window (Blackman) window, to improve the contribution of direct signal, and the contribution of reflection is decayed lost content in the situation that completely.
According to favourable variant, described method can also comprise to acoustical signal application of low-pass and/or high-pass filtering, and this causes therefrom drawing the further optimization of the data of position of collision.
Described method also relates to a kind of computer program that comprises one or more computer-readable mediums, described computer-readable medium has computer executable instructions, and described computer executable instructions is for carrying out the step of method described in arbitrary aforementioned claim.
Also utilize according to the device of claim 13 and realize object of the present invention, utilize this device can reach the advantageous effects identical with described method.
Accompanying drawing explanation
Below with reference to accompanying drawing, advantageous embodiment of the present invention is described, wherein:
Fig. 1 is used according to the schematic three-dimensional views of the touch sensitive device of the method for definite position of collision of the present invention;
Fig. 2 shows for determining the cross-correlation result of position of collision;
Fig. 3 shows eigenwert P when k is different from k0
k(u) the lower fact, wherein k
0it is the region that collision starts;
Fig. 4 shows the effect of the reflection of the acoustical signal that converting means senses;
Fig. 5 shows reflection for the adverse effect of determining the degree of accuracy of position of collision;
Fig. 6 shows sensing signal, and described sensing signal is processed to identify before the first wave of acoustical signal;
Fig. 7 shows the damping window for sensing acoustical signal is weighted;
Fig. 8 shows the damping window for cross-correlation result is weighted; And
Fig. 9 shows weighted results.
Embodiment
Fig. 1 is used according to the schematic three-dimensional views of the touch sensitive device 1 of the method for definite position of collision of the present invention.Touch sensitive device 1 comprises: interactive device 3, converting means 5a-5d (converting means 5d is invisible in Fig. 1) and the signal processing apparatus 7 linking with described converting means 5a-5d.
Interactive device 3 is transparent, translucent or opaque panels, described panel is smooth or crooked, and can be manufactured by any suitable material such as leather, latex, silicon, plastics, glass, metal, wood, plasterboard or compound substance.It can be also rigidity or soft, as long as acoustical signal can be propagated therein or on it.Interactive device 3 is provided for allowing carrying out mutual surface between user and device 1.In this embodiment, user typically provides collision in the face side contrary with converting means 9, and converting means 5a-5d also can be disposed in that side bumping.
In Fig. 1, show the touch sensitive device 1 with four converting means 5a-5d.Yet the number of converting means 5a-5d is restriction not, need only at least two converting means as a part for described touch control system 1, just can realize advantageous effects of the present invention.Converting means 5a-5d comprises transducer, as, the strainmeter of piezoelectric transducer form, described piezoelectric transducer is for example ceramic membrane or pvdf membrane.Yet converting means 5a-5d is not limited to the use of strainmeter, because pressure or the power sensor of any type passive or that be powered are all suitable conventionally, as long as the acoustical signal that it can produce collision is transformed into electric signal.
Converting means 5a-5d sends to signal processing apparatus 7 by sensing signal, and described signal processing apparatus is configured to analyze sensing signal, makes to determine position of collision 11.In addition, treating apparatus 7 can be configured to additional device output position of collision 11, or the action that is linked of the position bumping on triggering and object.
Signal processing apparatus 7 comprises signal conditioning unit, for for example carrying out filtering, amplify and/or be converted to digital signal by the sensing signal to from converting means 5a-5d, carrys out adaptive this sensing signal.Then this signal can further be processed by collision positioning unit, and described collision positioning unit is processed the digital signal being caused by the collision on mutual plate 3, for example, to determine the position (x, y coordinate) of this collision on mutual plate 3.
To a kind of method of determining position of collision be described now:
First, after collision, four acoustic transducer 5a-5d provide sensing signal s
i(t), i from 1 to 4, and then signal processing apparatus 7 (signal conditioning unit) changes sensing signal into discrete sensing signal s
i(n).Afterwards, carry out Fourier transform to obtain the S that forms device 5a-5d for each
i(w).Signal conditioning unit is finally also considered dispersion effect.Then, for all possible combination, carrying out crosscorrelation calculates: P
ij(w)=S
i(w) S
j(w) *.Use inverse Fourier transform by the described crosscorrelation time domain of remapping.In next step, to each cross-correlation result summation p
k(u)=∑
ijp
ij(u-τ
ijk), τ wherein
ijkcorresponding to poor for the time of arrival of the mutual plate 3 upper given position k in surface.Time of arrival difference τ
ijkthe acoustical signal producing with collision by k place, position is corresponding with respect to the propagation time difference of the position of converting means i and j in device 5a-5d.Described value determines in theory, or in installing 1 starting point or calibration point.
Then in order to identify the position 11 of collision, search p
k(u) Energy maximum value.Replace energy, also can use crosscorrelation and other parameters, for example maximal value, power or maximum squared magnitude, maximum peak are to peak-to-peak amplitude, root mean square etc.Can in above-mentioned prior art document, find the other details of relevant the method.
Fig. 2 shows the notional result of described method.In left side, for the transducer of given number, show cross-correlation result, in centre, by the position k for corresponding with position of collision 11
0difference τ time of arrival
ijkdescribed crosscorrelation is proofreaied and correct, and right side shows for position k
0have expection remarkable peak value cross-correlation result sum.
Fig. 3 show now when k not with k
0eigenwert p when corresponding
k(u).In this case, described eigenwert p
k(u) much smaller than p
k0(u).
Yet in fact, for example, for the existing of the false contribution of the sensing signal existence of the boundary reflection of mutual sheet 3 (), make to be worse off.The upper part of Fig. 4 shows an example of the sensing signal under the theoretical case of propagating in free field.In the situation that not launching, the duration of signal is limited in time.In the situation that causing due to imperfect boundary condition having reflection, signal launches (the lower part of Fig. 4) in time now.As shown in the latter half of Fig. 4, no longer may distinguish the first wave that does not have reflection in the situation that directly to arrive converting means on border before and the first contribution being caused by reflection.In fact, due to the collision on mutual plate, acoustical signal can have certain duration, and what make that the end of the signal of direct sensing can noisy reflection signal is initial.In addition, dispersion effect is further fuzzy described signal.
Comprise the method for carrying out above-mentioned definite position of collision on the sensing signal of false contribution, obtaining result as shown in Figure 5.Three-dimensional curve shows p
k(u) as the coordinate x of the position k on mutual plate 3, the function of y.Due to spurious signal, the maximal value of the cross-correlation result sum 51 corresponding with position of collision 11 not as shown in Figure 2 significantly.In addition, false contribution has been strengthened not and actual collision position k mistakenly
0the cross-correlation result of other positions 53,55,57,59 of corresponding some.Therefore, be more difficult to correctly identify the position 11 of collision.Under worst condition, signal processing apparatus 7 is the position of collision of possibility identification error even.
In order to overcome this problem, the method according to this invention proposes to carry out the weighting of sensing acoustical signal, makes, in the situation that not exclusively removing wave tail, to compare with end signal, and the contribution of starting point has larger impact.In analog domain (therefore, before carrying out location routines, in signal conditioning unit) or in numeric field, executing data processing in signal processing apparatus 7.
Signal treatment step of the present invention comprises: first step, before the first wave of identification acoustical signal; And second step, application damping window.The estimation of the time of arrival (toa) of the identification before first wave based at each converting means 5a-5d place.
In this embodiment, estimate to realize by following steps time of arrival: first, carry out full-wave rectification; Then for example by the signal to complete rectification, carry out single order low-pass filtering and carry out level and smooth routine.Once estimate signal envelope, determined amplitude peak a for each converting means 5a-5d
i max.
Described maximal value must be not corresponding with the time of arrival before first wave, has been found that described maximal value is corresponding with the robust parameter of Estimated Time of Arrival therefrom.For this purpose, determine when signal reaches the given number percent of this maximum level for the first time.Then think that this time point represents that acoustical signal arrives the time of arrival of converting means.Therefore, described time of arrival and signal reach α * a
i maxtime n
j(according to discrete signal form (n)) is corresponding, wherein 0 < α < 1.When α when (preferably 0.15), has realized optimum in 0.15 to 0.20 scope.Fig. 6 shows described situation, show complete rectification and level and smooth after signal, wherein also indicated amplitude peak A
i maxwith with α * A
i maxthe time of arrival at corresponding time ni place.
The second step of application damping window comprises sensing signal and suitable damping window is multiplied each other, and preferably multiplies each other with the window index as shown in Fig. 7 dotted line.Described window index can be with the time index n corresponding with time of arrival
istart, yet when damping window is than more having realized optimum time of arrival during Zao beginning.Therefore the in the situation that of window index, damping window can be defined as:
Here Δ t with on the occasion of corresponding, T is index time constant.For discrete time index, equation becomes: w (n)=exp ((n
i-Δ n-n)/N).Dispersion index time constant N=T/Ts wherein, Ts is nutrition, T is index time constant.
As can be seen from Figure 7, by application damping window, be not shutoff signal after the specific duration only, but on whole signal duration reservation information.
According to the variant of this embodiment, can, by definite one of converting means that is confined to of time of arrival, be confined to particularly first observe the converting means of signal.Thus, can limit calculation amount, and damping window can be for all sensing signals at identical time t
ior t
i-Δ t starts.According to other variant, weighting formula can be also:
In this case, do not cancel the beginning of sensing signal.
Exponential damping window is an invention example, also can use the damping window of other types.In fact, can use the damping window of any type, damping window can be asymmetrical, for example linear, or can be symmetrical, for example Gauss, Blacknam, Han Ning or Hamming.The in the situation that of symmetry-windows, can be with t
icentered by near-Δ t.This can prevent from by mistake eliminating before the first wave on sensing signal.
In the cross correlation results of the signal sensing at converting means 5a-5d according to a second embodiment of the present invention,, carry out acoustical signal method of weighting.In second embodiment of the inventive method, therefore can identify the maximal value of cross correlation results, the contribution of damping window for improving the crosscorrelation being caused by direct signal, and for making the contribution decay of the signal of reflection generation, preferably described damping window is symmetry-windows, for example Gauss, Hamming, Han Ning or Blackman window.
Fig. 8 shows the concept of this second embodiment.Show the cross-correlation result being calculated by two sensing signals (plain weave (plain) line).The damping window of dotted line is centered by the maximal value of cross-correlation result.In addition, the maximal value of crosscorrelation provides the good first approximation of the signal differential time of flight of two different converting means.Here Gaussian window is as given a definition:
Wherein, under the sample frequency of 44kHz, σ=1e-2 and N=2048.
Fig. 9 has illustrated for identifying the effect of weighting of the cross-correlation result of position of collision.
Can combine further to suppress false contribution to the first and second embodiment of the present invention.
Can also remove such as the false contribution to signal being caused by power supply etc. by application Hi-pass filter and/or low-pass filter, further improve the first and second embodiment.
Utilize according to the first and second aspects of the present invention, for example can suppress largely the adverse effect of the false contribution that the reflection by interactive device boundary causes, and can not lose, determine the necessary information of position of collision.
Claims (22)
1. for determining a method for the upper position of collision (11) in object (1) surface (9), based on the analysis of the acoustical signal being produced by collision is determined to position of collision on body surface, it is characterized in that:
Also comprise signal treatment step, in described signal treatment step, acoustical signal be weighted, thereby consider specifically the false contribution that the reflection due to object (1) boundary causes,
Wherein signal treatment step comprises the step before the first wave of identifying acoustical signal and the step of applying damping window,
The step of wherein applying damping window comprises uses acoustical signal and following exponential damping window to multiply each other:
T wherein
icorresponding with the time of arrival before first wave, Δ t is time delay, and T is index time constant.
2. method according to claim 1, wherein carries out described weighting in time domain.
3. method according to claim 1, the step of wherein identifying before first wave comprises identification maximum signal amplitudes.
4. method according to claim 3, wherein identification step also comprises: the arrival before first wave is defined as to the time when acoustical signal surpasses the threshold value based on maximum signal amplitudes.
5. according to the method described in any one in claim 1 to 4, wherein by least two converting means (5a-5d), carry out sensing acoustical signal, for a converting means, make the same time initial point for all converting means application damping windows before identifying first wave.
6. method according to claim 5, wherein only identifies before first wave for a converting means, makes the same time initial point for all converting means application damping windows.
7. according to the method described in any one in claim 1 to 4, wherein by least two converting means (5a-5d), carry out sensing acoustical signal, use the cross correlation results of the signal being sensed by described at least two converting means to carry out the weighting of acoustical signal.
8. method according to claim 7, wherein identifies the step of contributing before first wave and comprises the maximal value of determining described cross correlation results.
9. method according to claim 1, the step of wherein applying damping window comprises application gravity center of symmetric window function.
10. method according to claim 9, the step of wherein applying damping window comprises application Gaussian window, Hamming window, Hanning window or Blackman window.
11. according to the method described in any one in claim 1 to 4 and 9-10, also comprises: to acoustical signal application of low-pass and/or high-pass filtering.
12. 1 kinds for the device based on determining the upper position of collision (11) of body surface (9), and based on the analysis of the acoustical signal being produced by collision is determined to position of collision on body surface, described device comprises:
Signal processing apparatus, is weighted acoustical signal, thereby considers specifically the false contribution that the reflection due to object (1) boundary causes,
Wherein signal processing apparatus comprises the device before the first wave of identifying acoustical signal and the device of applying damping window,
The device of wherein applying damping window comprises the device that uses acoustical signal and following exponential damping window to multiply each other:
T wherein
icorresponding with the time of arrival before first wave, Δ t is time delay, and T is index time constant.
13. devices according to claim 12, wherein carry out described weighting in time domain.
14. devices according to claim 12, the device of wherein identifying before first wave comprises the device of identifying maximum signal amplitudes.
15. devices according to claim 14, wherein recognition device also comprises: the device that the arrival before first wave is defined as to the time when acoustical signal surpasses the threshold value based on maximum signal amplitudes.
16. according to claim 12 to the device described in any one in 15, wherein by least two converting means (5a-5d), carry out sensing acoustical signal, for a converting means, identify before first wave, make the same time initial point for all converting means application damping windows.
17. devices according to claim 16, wherein only identify before first wave for a converting means, make the same time initial point for all converting means application damping windows.
18. according to claim 12 to the device described in any one in 15, wherein by least two converting means (5a-5d), carrys out sensing acoustical signal, uses the cross correlation results of the signal being sensed by described at least two converting means to carry out the weighting of acoustical signal.
19. devices according to claim 18, wherein identify the device of contributing before first wave and comprise the peaked device of determining described cross correlation results.
20. devices according to claim 12, the device of wherein applying damping window comprises the device of applying gravity center of symmetric window function.
21. devices according to claim 20, the device of wherein applying damping window comprises the device of application Gaussian window, Hamming window, Hanning window or Blackman window.
22. devices according to claim 12, also comprise: the device to acoustical signal application of low-pass and/or high-pass filtering.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP08290430A EP2116921B1 (en) | 2008-05-07 | 2008-05-07 | Method for determining the location of an impact on a surface of an object |
| EP08290430.1 | 2008-05-07 | ||
| PCT/EP2009/002903 WO2009135589A1 (en) | 2008-05-07 | 2009-04-21 | Method for determining the location of an impact on a surface of an object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102016774A CN102016774A (en) | 2011-04-13 |
| CN102016774B true CN102016774B (en) | 2014-07-16 |
Family
ID=39745110
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980116086.1A Expired - Fee Related CN102016774B (en) | 2008-05-07 | 2009-04-21 | Method for determining the location of an impact on a surface of an object |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8670290B2 (en) |
| EP (1) | EP2116921B1 (en) |
| JP (1) | JP4834694B2 (en) |
| CN (1) | CN102016774B (en) |
| AT (1) | ATE523839T1 (en) |
| WO (1) | WO2009135589A1 (en) |
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| EP1869443B1 (en) | 2005-04-13 | 2010-03-17 | Sensitive Object | Method for determining the location of impacts by acoustic imaging |
| SG136813A1 (en) * | 2006-04-11 | 2007-11-29 | Sony Corp | A method for estimating one or more parameters of a ultra wideband signal and a receiver system for receiving ultra wideband signals |
| GB2438461A (en) * | 2006-05-23 | 2007-11-28 | Univ Cambridge Tech | Weighted phase separation based ultrasonic deformation estimation |
| ATE523839T1 (en) * | 2008-05-07 | 2011-09-15 | Tyco Electronics Services Gmbh | METHOD FOR DETERMINING THE POSITION OF AN IMPACT ON THE SURFACE OF AN OBJECT |
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